set_ref_coord(coord)

p0 = posj(0,0,90,0,90,0)
movej(p0, v=30, a=30)
x1 = posx(370.9, 419.7, 651.5, 90,-180,0)
movel(x1, v=100, a=100) # Base Coordinate basis
uu1 = [-1, 1, 0]  # x-axis vector of the user coordinate system (base coordinate basis)
vv1 = [1, 1, 0]   # y-axis vector of the user coordinate system (base coordinate basis)
pos = posx(370.9, -419.7, 651.5, 0, 0, 0) # Origin point of the user coordinate system
DR_USER1 = set_user_cart_coord(uu1, vv1, pos)   # Sets the user coordinate system.
set_ref_coord(DR_USER1)           # Sets DR_USER1 of the user coordinate system to the global coordinate system.
movel([0,0,0,0,0,0],v=100,a=100)  # The global coordinate system is used if the reference coordinate system is not specified.
                                  # Moves to the origin point and direction of the DR_USER1 coordinate system.
movel([0,200,0,0,0,0],v=100,a=100) # Moves to the (0,200,0) point of the DR_USER1 coordinate system.